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Configuration file for the 610-450-16-12 motion base. This has a 1600mm
base PCD and 1200mm platform PCD. The coordinate system is as follows -

               3
                  2

       4
              -------> x
       5

                  1
               0
                                Numbers show platform pivot points

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Entries in this file are delimited by the colon character. Comments (such as
this) can be freely placed throughout the file, but no comment must be placed
between a colon and the parameter that it delimits. Comments can be placed
after numerical parameters on the same line, as long as there is white space
between the parameter and the comment. Comments cannot be placed after string
parameters; they would be read as part of the string.

The correct number of colon characters, and the parameters they delimit, must
occur in the correct order. Care should therefore be taken not to include
colon characters in comments.

A line containing a colon character can be made to be ignored by beginning it
with a semicolon character.
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Configuration file format version. This ensures that the configuration
file format is compatible with the software being used.
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Format version number: 14

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The number of actuators.
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Number of actuators: 6

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Parameters relating to the DC link and to power fail.
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Full scale DC Link voltage (V):              450.0
Lower no-load DC link voltage threshold (V): 300.0
Upper no-load DC link voltage threshold (V): 380.0
Lower on-load DC link voltage threshold (V): 120.0
Link voltage filter time constant (s): 0.1
Inrush period timeout (ms):                                 5000
Timeout for no-load DC link voltage to be in spec (ms):     2000
Timeout for dump fuse to show as healthy (ms):              2000
UPS inrush time (ms):                                       3000
UPS extra inrush time (ms):                                 1000
Timeout for UPS no-load DC link voltage to be in spec (ms): 2000
"Stationary" velocity for power fail condition (mru/s): 10

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The motion controller runs a state machine on a regular tick. Application
programs, such as MB_MOVE, can be slaved to this tick. The high-level motion
control algorithms are also called on this tick. The period of the tick is set
here.
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State Machine Period (s): 0.03333333

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When following, the state machine will return the platform to the Neutral
position if the host fails to provide new data the following number of times.
A value of zero means that the check is not performed.
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Missed Sample Threshold: 0

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Parameters of actuator 0.
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Axis number: 0

x coordinate in base (length units): -327.0
y coordinate in base (length units): -730.0
z coordinate in base (length units):    0.0

x coordinate in platform (length units):  226.0
y coordinate in platform (length units): -556.0
z coordinate in platform (length units):    0.0

Encoder sense (1 or -1): 1
Home length (length units): 1122.0
Min extension (length units): 0.0
Max extension (length units): 446.0
Scale factor (counts per length unit): 1638.4

Kp:      2.0
Kvel:    7.0
Kvelff:  7.0

Homing accel rate: 500.0
Homing decel rate: 500.0
Homing slew speed: 30.0
Homing current limit (%): 30.0

Home switch input (-1 indicates homing on end-stop): -1
Enable output: 0
Amplifier healthy input: 8

Maximum speed (length units/s): 300.0
Peak acceleration (length units/s/s): 2000.0
Rated acceleration (length units/s/s): 2000.0

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Parameters of actuator 1.
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Axis number: 1

x coordinate in base (length units):  796.0
y coordinate in base (length units):  -82.0
z coordinate in base (length units):    0.0

x coordinate in platform (length units):  369.0
y coordinate in platform (length units): -473.0
z coordinate in platform (length units):    0.0

Encoder sense (1 or -1): 1
Home length (length units): 1122.0
Min extension (length units): 0.0
Max extension (length units): 446.0
Scale factor (counts per length unit): 1638.4

Kp:      2.0
Kvel:    7.0
Kvelff:  7.0

Homing accel rate: 500.0
Homing decel rate: 500.0
Homing slew speed: 30.0
Homing current limit (%): 30.0

Home switch input (-1 indicates homing on end-stop): -1
Enable output: 1
Amplifier healthy input: 9

Maximum speed (length units/s): 300.0
Peak acceleration (length units/s/s): 2000.0
Rated acceleration (length units/s/s): 2000.0

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Parameters of actuator 2.
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Axis number: 2

x coordinate in base (length units):  796.0
y coordinate in base (length units):   82.0
z coordinate in base (length units):    0.0

x coordinate in platform (length units):  369.0
y coordinate in platform (length units):  473.0
z coordinate in platform (length units):    0.0

Encoder sense (1 or -1): 1
Home length (length units): 1122.0
Min extension (length units): 0.0
Max extension (length units): 446.0
Scale factor (counts per length unit): 1638.4

Kp:      2.0
Kvel:    7.0
Kvelff:  7.0

Homing accel rate: 500.0
Homing decel rate: 500.0
Homing slew speed: 30.0
Homing current limit (%): 30.0

Home switch input (-1 indicates homing on end-stop): -1
Enable output: 2
Amplifier healthy input: 10

Maximum speed (length units/s): 300.0
Peak acceleration (length units/s/s): 2000.0
Rated acceleration (length units/s/s): 2000.0

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Parameters of actuator 3.
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Axis number: 3

x coordinate in base (length units): -327.0
y coordinate in base (length units):  730.0
z coordinate in base (length units):    0.0

x coordinate in platform (length units):  226.0
y coordinate in platform (length units):  556.0
z coordinate in platform (length units):    0.0

Encoder sense (1 or -1): 1
Home length (length units): 1122.0
Min extension (length units): 0.0
Max extension (length units): 446.0
Scale factor (counts per length unit): 1638.4

Kp:      2.0
Kvel:    7.0
Kvelff:  7.0

Homing accel rate: 500.0
Homing decel rate: 500.0
Homing slew speed: 30.0
Homing current limit (%): 30.0

Home switch input (-1 indicates homing on end-stop): -1
Enable output: 3
Amplifier healthy input: 11

Maximum speed (length units/s): 300.0
Peak acceleration (length units/s/s): 2000.0
Rated acceleration (length units/s/s): 2000.0

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Parameters of actuator 4.
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Axis number: 4

x coordinate in base (length units): -469.0
y coordinate in base (length units):  648.0
z coordinate in base (length units):    0.0

x coordinate in platform (length units): -594.0
y coordinate in platform (length units):   82.0
z coordinate in platform (length units):    0.0

Encoder sense (1 or -1): 1
Home length (length units): 1122.0
Min extension (length units): 0.0
Max extension (length units): 446.0
Scale factor (counts per length unit): 1638.4

Kp:      2.0
Kvel:    7.0
Kvelff:  7.0

Homing accel rate: 500.0
Homing decel rate: 500.0
Homing slew speed: 30.0
Homing current limit (%): 30.0

Home switch input (-1 indicates homing on end-stop): -1
Enable output: 4
Amplifier healthy input: 12

Maximum speed (length units/s): 300.0
Peak acceleration (length units/s/s): 2000.0
Rated acceleration (length units/s/s): 2000.0

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Parameters of actuator 5.
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Axis number: 5

x coordinate in base (length units): -469.0
y coordinate in base (length units): -648.0
z coordinate in base (length units):    0.0

x coordinate in platform (length units): -594.0
y coordinate in platform (length units):  -82.0
z coordinate in platform (length units):    0.0

Encoder sense (1 or -1): 1
Home length (length units): 1122.0
Min extension (length units): 0.0
Max extension (length units): 446.0
Scale factor (counts per length unit): 1638.4

Kp:      2.0
Kvel:    7.0
Kvelff:  7.0

Homing accel rate: 500.0
Homing decel rate: 500.0
Homing slew speed: 30.0
Homing current limit (%): 30.0

Home switch input (-1 indicates homing on end-stop): -1
Enable output: 5
Amplifier healthy input: 13

Maximum speed (length units/s): 300.0
Peak acceleration (length units/s/s): 2000.0
Rated acceleration (length units/s/s): 2000.0

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END OF FILE
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